(FR) ArticulatedObjectReader: using instance name instead of robot

description name to query "robot" state

source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp

@@ -208,7 +208,7 @@ namespace armarx::armem::articulated_object
         return getRobotDescription(qResult.memory);
     }
 
-    std::optional<robot::RobotState> Reader::queryState(const robot::RobotDescription& description,
+    std::optional<robot::RobotState> Reader::queryState(const std::string& instanceName,
             const armem::Time& timestamp)
     {
         // TODO(fabian.reister): how to deal with multiple providers?
@@ -220,7 +220,7 @@ namespace armarx::armem::articulated_object
         qb
         .coreSegments().withName(properties.coreInstanceSegmentName)
         .providerSegments().all() // withName(properties.providerName) // agent
-        .entities().withName(description.name)
+        .entities().withName(instanceName)
         .snapshots().latest();
         // clang-format on
 

source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h

@@ -52,7 +52,7 @@ namespace armarx::armem::articulated_object
         ArticulatedObject get(const ArticulatedObjectDescription& description,
                               const armem::Time& timestamp) override;
 
-        std::optional<robot::RobotState> queryState(const robot::RobotDescription& description,
+        std::optional<robot::RobotState> queryState(const std::string &instanceName,
                 const armem::Time& timestamp);
         std::optional<robot::RobotDescription> queryDescription(const std::string& name,
                 const armem::Time& timestamp);